Vehicle motion control method, system, electronic device, and storage medium

Abstract

The application discloses a vehicle motion control method and system, electronic equipment and a storage medium. The method comprises the following steps: receiving a function control request by a function logic control module, logically judging the function control request, and outputting a function logic control instruction; then, a trajectory tracking control module activates a trajectory tracking function based on the function logic control instruction, and outputs a trajectory tracking control instruction to a target allocation layer; receiving the trajectory tracking control instruction by a target allocation control module, decomposing the trajectory tracking control instruction, and outputting a plurality of horizontal and vertical control instructions obtained by decomposition to a coordination control layer; receiving a plurality of horizontal and vertical control instructions by a horizontal and vertical coordination control module, converting the plurality of horizontal and vertical control instructions, obtaining a plurality of dynamics instructions corresponding to the plurality of horizontal and vertical control instructions respectively, and outputting each dynamics instruction to a corresponding actuator. The above scheme solves the problem of multi-actuator target allocation through a vehicle motion control platform.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to a vehicle motion control method, system, electronic device, and storage medium. Background Technology

[0002] With the development of autonomous driving technology, the application of vehicle motion control technology is becoming increasingly widespread.

[0003] Vehicle motion control technology mainly combines control theory with vehicle kinematics and dynamics to control the target vehicle to travel along a planned path.

[0004] In the process of realizing this invention, the inventors discovered that at least the following technical problems exist in the prior art: existing vehicle motion control technology solutions have the problem of multi-actuator target allocation. Summary of the Invention

[0005] This invention provides a vehicle motion control method, system, electronic device, and storage medium to solve the problem of target allocation for multiple actuators.

[0006] According to one aspect of the present invention, a vehicle motion control method is provided, executed by a vehicle motion control platform, the vehicle motion control platform including a supervision layer, a motion control layer, a target allocation layer, and a coordination control layer, wherein the supervision layer includes a functional logic control module; the motion control layer includes a trajectory tracking control module; the target allocation layer includes a target allocation control module; and the coordination control layer includes a lateral and longitudinal coordination control module; the method includes:

[0007] The functional logic control module of the supervision layer receives functional control requests, performs logical judgments on the functional control requests, and outputs functional logic control instructions to the motion control layer.

[0008] The trajectory tracking control module of the motion control layer receives the functional logic control command, activates the trajectory tracking function based on the functional logic control command, and outputs the trajectory tracking control command to the target allocation layer.

[0009] The target allocation control module of the target allocation layer receives the trajectory tracking control command, decomposes the trajectory tracking control command, and outputs the decomposed multiple horizontal and vertical control commands to the coordination control layer.

[0010] The horizontal and vertical coordination control module of the coordination control layer receives the multiple horizontal and vertical control commands, converts the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands, and outputs each of the dynamic commands to the corresponding actuator.

[0011] According to another aspect of the present invention, a vehicle motion control system is provided, comprising:

[0012] The functional logic control module of the supervision layer is used to receive functional control requests, perform logical judgments on the functional control requests, and output functional logic control instructions to the motion control layer.

[0013] The trajectory tracking control module of the motion control layer is used to receive the functional logic control instructions, activate the trajectory tracking function based on the functional logic control instructions, and output the trajectory tracking control instructions to the target allocation layer.

[0014] The target allocation control module of the target allocation layer is used to receive the trajectory tracking control command, decompose the trajectory tracking control command, and output the decomposed multiple horizontal and vertical control commands to the coordination control layer.

[0015] The horizontal and vertical coordination control module of the coordination control layer is used to receive the multiple horizontal and vertical control commands, convert the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands respectively, and output each of the dynamic commands to the corresponding actuator.

[0016] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0017] At least one processor;

[0018] and a memory communicatively connected to the at least one processor;

[0019] The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the vehicle motion control method according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the vehicle motion control method according to any embodiment of the present invention.

[0021] The technical solution of this invention, through the functional logic control module of the supervision layer, receives functional control requests, performs logical judgment on the functional control requests, and outputs functional logic control instructions to the motion control layer. Then, through the trajectory tracking control module of the motion control layer, it receives the functional logic control instructions, activates the trajectory tracking function based on the functional logic control instructions, and outputs trajectory tracking control instructions to the target allocation layer. Through the target allocation control module of the target allocation layer, it receives the trajectory tracking control instructions, decomposes the trajectory tracking control instructions, and outputs multiple horizontal and vertical control instructions to the coordination control layer. Through the horizontal and vertical coordination control module of the coordination control layer, it receives multiple horizontal and vertical control instructions, converts these instructions to obtain dynamic instructions corresponding to each horizontal and vertical control instruction, and outputs each dynamic instruction to its corresponding actuator. This achieves coordinated horizontal and vertical control, avoids execution conflicts, optimizes execution performance, and solves the problem of target allocation for multiple actuators.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a vehicle motion control method provided in Embodiment 1 of the present invention;

[0025] Figure 2 This is a flowchart of a vehicle motion control method according to Embodiment 2 of the present invention;

[0026] Figure 3 This is a schematic diagram of the structure of a vehicle motion control platform according to Embodiment 3 of the present invention;

[0027] Figure 4 This is a schematic diagram of a vehicle motion control system according to Embodiment 4 of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the vehicle motion control method of this invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Before introducing specific embodiments, let's first describe the vehicle motion control platform that executes the vehicle motion control method. This platform includes a supervision layer, a motion control layer, a target allocation layer, and a coordination control layer. The supervision layer includes at least a functional logic control module; the motion control layer includes at least a trajectory tracking control module; the target allocation layer includes at least a target allocation control module; and the coordination control layer includes at least a lateral and longitudinal coordination control module. This vehicle motion control platform can be deployed in the chassis domain. It serves as a unified trajectory interface, receiving trajectory input from upper-level autonomous driving or autonomous driving assistance functions to achieve trajectory tracking. It also interfaces with the drive-by-wire interface of drive-by-wire chassis vehicles to achieve lateral and longitudinal execution control functions. The vehicle motion control platform can integrate various interface control modules, matching them to different downstream drive-by-wire interfaces for seamless integration. Furthermore, the platform can uniformly schedule multiple actuators in the chassis to broaden the motion control boundaries and maximize chassis control performance.

[0032] Example 1

[0033] Figure 1 This is a flowchart of a vehicle motion control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where vehicle motion control is performed in the chassis domain. The method can be executed by a vehicle motion control platform, which can be implemented in hardware and / or software. For example, the vehicle motion control platform can be configured in the chassis domain. Figure 1 As shown, the method includes:

[0034] S110. The functional logic control module of the supervision layer receives a functional control request, performs logical judgment on the functional control request, and outputs a functional logic control instruction to the motion control layer.

[0035] Specifically, the functional logic control module can receive externally input functional control requests, which may contain one or more control instructions. It can logically judge the functional control requests according to priority and / or pre-set rules, and output functional logic control instructions to the motion control layer to trigger specific control functions. If functional control requests conflict, the functional logic control module can perform logical arbitration.

[0036] S120. The trajectory tracking control module of the motion control layer receives the functional logic control instruction, activates the trajectory tracking function based on the functional logic control instruction, and outputs the trajectory tracking control instruction to the target allocation layer.

[0037] Specifically, the trajectory tracking control module of the motion control layer can receive the functional logic control instructions sent by the functional logic control module of the supervision layer, and then activate the trajectory tracking function based on the functional logic control instructions, and output the trajectory tracking control instructions generated by activating the trajectory tracking function to the target allocation layer.

[0038] S130. The target allocation control module of the target allocation layer receives the trajectory tracking control command, decomposes the trajectory tracking control command, and outputs the decomposed multiple horizontal and vertical control commands to the coordination control layer.

[0039] Specifically, the target allocation control module of the target allocation layer can receive the trajectory tracking control command output by the trajectory tracking control module, and then decompose the trajectory tracking control command through the target allocation strategy, and output the multiple horizontal and vertical control commands obtained from the decomposition to the coordination control layer.

[0040] It should be noted that the target allocation control module can solve the problem of target allocation for multiple actuators. This embodiment unifies and abstracts the interface at the top, while developing multiple target allocation control modules in parallel according to different chassis configurations at the bottom. In practical applications, the corresponding target allocation control module can be enabled or selected based on the specific chassis configuration, achieving adaptation to different chassis configurations and effectively improving the versatility and development efficiency of the vehicle motion control platform.

[0041] S140. The horizontal and vertical coordination control module of the coordination control layer receives the multiple horizontal and vertical control commands, converts the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands respectively, and outputs each of the dynamic commands to the corresponding actuator.

[0042] Specifically, the horizontal and vertical coordination control modules of the coordination control layer can receive multiple horizontal and vertical control commands output by the target allocation control module of the target allocation layer. These horizontal and vertical control commands are mostly kinematic commands, which can then be converted into corresponding dynamic commands and output to the corresponding actuators to execute and coordinate horizontal and vertical control, avoid execution conflicts, and optimize execution performance.

[0043] In some optional embodiments, the target allocation layer further includes a motion assistance control module and a cross-system execution redundancy control module; the motion assistance control module of the target allocation layer receives lateral and longitudinal control commands and monitors key state variables; the cross-system execution redundancy control module of the target allocation layer, upon receiving actuator fault status information output by the coordination control layer, converts the control commands into control commands for redundant actuators, and realizes lateral and longitudinal control of the vehicle based on the control commands of the redundant actuators.

[0044] Specifically, the motion assist control module can receive the decomposed lateral and longitudinal control commands output by the target allocation control module and monitor key state variables in real time during trajectory tracking. These key state variables can include heading angle error, etc. When a key state variable exceeds a set threshold, the motion assist control module triggers the direct yaw moment control (DYC) function. By intervening in the trajectory tracking process through direct yaw moment control, the tracking capability and accuracy can be improved. Furthermore, the motion assist control module can also monitor the curvature changes of the external trajectory input and external emergency obstacle avoidance markers in real time. By comprehensively judging the curvature changes of the external trajectory input and the external emergency obstacle avoidance markers, it can determine whether the vehicle is in an emergency obstacle avoidance condition. If the vehicle is in an emergency obstacle avoidance condition, the motion assist control module can use the DYC function for trajectory tracking control, thereby improving the timeliness of trajectory tracking and vehicle stabilization recovery, and fully ensuring driving safety in emergency situations.

[0045] The cross-system execution redundancy control module can receive output commands from the motion assistance control module and actuator fault status information from the actuator management module of the coordination control layer. Under normal operating conditions, the cross-system execution redundancy control module does not process upstream output commands. However, upon receiving actuator fault status information from the coordination control layer, the module performs redundancy, converting the original actuator's control commands into redundant actuator commands. Based on these redundant actuator commands, it then implements lateral and longitudinal vehicle control, ensuring redundancy safety. Here, redundancy refers to inter-system redundancy, not intra-system redundancy, such as negative torque braking, brake steering, and drive steering.

[0046] In some optional embodiments, the coordination control layer further includes a motion management module, which includes a mode management submodule, a human-machine management submodule, and an actuator management submodule; the mode management submodule is used to switch vehicle driving modes; the human-machine management submodule is used for human intervention in autonomous driving; and the actuator management submodule is used to manage the working status and fault status of each actuator in the chassis.

[0047] It should be noted that, in addition to autonomous driving, autonomous vehicles can also be equipped with remote driving or remote control functions. In this embodiment, the mode management submodule allows switching between autonomous driving, remote driving, and remote control functions. The human-machine management submodule can directly process or intervene in the underlying control commands to take over the vehicle during autonomous driving and execute takeover / disengagement strategies or human-machine co-driving strategies. The actuator management submodule can be used to monitor the working status and fault status of each actuator in the chassis in real time, and manage and provide feedback for use by other functional modules.

[0048] In some optional embodiments, the vehicle motion control platform further includes a state estimation and prediction module; the method further includes: receiving vehicle state information and external environment information through the state estimation and prediction module, and determining the state estimation result based on the vehicle state information and external environment information.

[0049] Specifically, the state estimation and prediction module can collect vehicle state information and external environment information, and based on the collected vehicle state information and external environment information, perform real-time estimation and prediction of the vehicle state and environmental information necessary for vehicle motion control, thereby obtaining state estimation results. The state estimation results may include, but are not limited to, speed, mass, gradient, lateral stiffness, road surface adhesion, and center of gravity lateral slip angle. Furthermore, the state estimation results can be output to various layers of the vehicle motion control platform for use by each layer's modules.

[0050] The technical solution of this invention, through the functional logic control module of the supervision layer, receives functional control requests, performs logical judgment on the functional control requests, and outputs functional logic control instructions to the motion control layer. Then, through the trajectory tracking control module of the motion control layer, it receives the functional logic control instructions, activates the trajectory tracking function based on the functional logic control instructions, and outputs trajectory tracking control instructions to the target allocation layer. Through the target allocation control module of the target allocation layer, it receives the trajectory tracking control instructions, decomposes the trajectory tracking control instructions, and outputs multiple horizontal and vertical control instructions to the coordination control layer. Through the horizontal and vertical coordination control module of the coordination control layer, it receives multiple horizontal and vertical control instructions, converts these instructions to obtain dynamic instructions corresponding to each horizontal and vertical control instruction, and outputs each dynamic instruction to its corresponding actuator. This achieves coordinated horizontal and vertical control, avoids execution conflicts, optimizes execution performance, and solves the problem of target allocation for multiple actuators.

[0051] Example 2

[0052] Figure 2 This is a flowchart of a vehicle motion control method provided in Embodiment 2 of the present invention. The method of this embodiment can be combined with various optional schemes in the vehicle motion control methods provided in the above embodiments. The vehicle motion control method provided in this embodiment has been further optimized. Optionally, the supervision layer further includes a pre-stabilization arbitration module, and the method further includes: receiving state estimation results through the pre-stabilization arbitration module of the supervision layer, judging the instability of the vehicle based on the state estimation results, and obtaining an instability judgment result.

[0053] like Figure 2 As shown, the method includes:

[0054] S210. The functional logic control module of the supervision layer receives a functional control request, performs logical judgment on the functional control request, and outputs a functional logic control instruction to the motion control layer.

[0055] S220. The pre-stabilization arbitration control module of the supervision layer receives the state estimation result, and judges the instability of the vehicle based on the state estimation result to obtain the instability judgment result.

[0056] Specifically, the pre-stabilization arbitration control module can receive the state estimation results output by the state estimation and prediction modules. Based on these results and predefined stability criteria, it can then determine the vehicle's instability status and arrive at an instability judgment result. For example, if the instability judgment result indicates that the vehicle is in an unstable state, the constraint control module is triggered, increasing / deepening the constraints on vehicle motion control to prevent instability. If the vehicle's instability status or trend cannot be effectively controlled within a preset time, the pre-stabilization arbitration control module outputs control commands to the functional logic control module, controlling the vehicle to exit relevant autonomous driving functions and prompting the user to take over the vehicle. Simultaneously, it passively triggers the strong instability control function of the Electronic Stability Controller (ESC).

[0057] In some optional embodiments, the supervision layer further includes a constraint control module, and the method further includes: receiving state estimation results and instability judgment results through the constraint control module of the supervision layer, generating horizontal and vertical constraint boundaries based on the state estimation results, outputting the horizontal and vertical constraint boundaries to the motion control layer, and correcting the horizontal and vertical constraint boundaries based on the instability judgment results to obtain the corrected horizontal and vertical constraint boundaries.

[0058] For example, the constraint control module can simultaneously receive the state estimation results output by the state estimation and prediction module and the instability judgment results output by the pre-stabilization arbitration control module. Specifically, it can generate lateral and longitudinal constraint boundaries in real time based on the state estimation results and output these boundaries to the motion control layer to achieve lateral and longitudinal constraint control and ensure stable and safe vehicle operation. Furthermore, the lateral and longitudinal constraint boundaries can be modified based on the instability judgment results to obtain modified boundaries. For instance, if the instability judgment result indicates that the vehicle is experiencing instability or a tendency to become unstable, the lateral and longitudinal constraints can be further increased or deepened based on the existing boundaries to prevent or mitigate vehicle instability.

[0059] S230. The trajectory tracking control module of the motion control layer receives the functional logic control instruction, activates the trajectory tracking function based on the functional logic control instruction, and outputs the trajectory tracking control instruction to the target allocation layer.

[0060] S240. The target allocation control module of the target allocation layer receives the trajectory tracking control command, decomposes the trajectory tracking control command, and outputs the decomposed multiple horizontal and vertical control commands to the coordination control layer.

[0061] S250. The horizontal and vertical coordination control module of the coordination control layer receives the multiple horizontal and vertical control commands, converts the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands respectively, and outputs each of the dynamic commands to the corresponding actuator.

[0062] In some optional embodiments, the motion control layer further includes a signal processing module, which includes a trajectory interpolation fitting submodule and a positioning fusion processing submodule. The method further includes: receiving discrete trajectory points input from the trajectory interface through the trajectory interpolation fitting submodule, interpolating and fitting the discrete trajectory points input from the trajectory interface to obtain a target trajectory, wherein the target trajectory is used for control by the trajectory tracking control module; and receiving external positioning information and vehicle chassis information through the positioning fusion processing submodule, correcting the external positioning information based on the vehicle chassis information to obtain corrected positioning information.

[0063] For example, the trajectory interpolation fitting submodule can interpolate and fit discrete trajectory points input from the trajectory interface to generate a continuous and smooth target trajectory that satisfies vehicle kinematics and dynamics constraints. This target trajectory can be used by the trajectory tracking control module. The positioning fusion processing submodule can receive external positioning information and vehicle chassis information, and correct the external positioning information based on the vehicle chassis information to obtain corrected positioning information.

[0064] The positioning fusion processing submodule can correct and verify external positioning information based on vehicle chassis information. Specifically, when the external positioning input is normal, the external positioning information can be directly used for control; when the external positioning is abnormal, the corrected positioning information is used, thereby ensuring the system's control accuracy and stability. Furthermore, the corrected positioning information can be fed back to the external positioning module for its verification.

[0065] In some optional embodiments, the trajectory tracking control module includes a parking trajectory tracking submodule and a driving trajectory tracking submodule. The parking trajectory tracking submodule is used to determine trajectory tracking control commands based on a slipform control algorithm; the driving trajectory tracking submodule is used to determine trajectory tracking control commands based on a model predictive control algorithm.

[0066] For example, this embodiment designs a parking trajectory tracking submodule and a driving trajectory tracking submodule according to driving and parking scenarios respectively. The parking trajectory tracking submodule is used to determine trajectory tracking control commands based on the sliding diaphragm control algorithm; the driving trajectory tracking submodule is used to determine trajectory tracking control commands based on the model predictive control algorithm. Both the parking trajectory tracking submodule and the driving trajectory tracking submodule can simultaneously receive the interpolated and fitted trajectory information and the fused positioning information output by the signal processing module. Furthermore, the trajectory tracking control module can also receive functional logic control commands and constraint boundary information output by the supervision layer. Specifically, the trajectory tracking control module can activate the trajectory tracking function according to the functional logic control commands, and the constraint boundary information can be simultaneously fed into the controller for solving to ensure that the output commands meet the vehicle's stability and safety requirements.

[0067] In some optional embodiments, the motion control layer further includes an actuator characteristic compensation module; the method further includes: receiving response delay and overshoot information through the actuator characteristic compensation module, performing compensation processing on the response delay and overshoot information to obtain actuator response characteristic parameters, and outputting the actuator response characteristic parameters to the trajectory tracking control module, thereby eliminating / reducing the impact of response delay and overshoot on motion control during the control process.

[0068] The technical solution of this invention embodiment can receive the state estimation results output by the state estimation and prediction module through the pre-stabilization arbitration control module. Then, based on the state estimation results and the predefined stability criteria, the vehicle instability situation can be judged. If the instability judgment result is that the vehicle is in an unstable state, the constraint control module is triggered to increase / deepen the constraints on the vehicle motion control and prevent the vehicle from becoming unstable.

[0069] Example 3

[0070] Figure 3 This is a schematic diagram of a vehicle motion control platform according to Embodiment 3 of the present invention. The vehicle motion control platform includes a supervision layer, a motion control layer, a target allocation layer, and a coordination control layer. The supervision layer includes a functional logic control module, a pre-stabilization arbitration control module, and a constraint control module; the motion control layer includes a signal processing module, a trajectory tracking control module, and an actuator characteristic compensation module; the target allocation layer includes a target allocation control module, a motion assistance control module, and a cross-system execution redundancy control module; the coordination control layer includes a lateral and longitudinal coordination control module and a motion management module.

[0071] The functional logic control module of the supervision layer is used to receive functional control requests or control instructions, perform logical judgments on the functional control requests, and output functional logic control instructions to the motion control layer.

[0072] The trajectory tracking control module of the motion control layer is used to receive the functional logic control instructions, activate the trajectory tracking function based on the functional logic control instructions, and output the trajectory tracking control instructions to the target allocation layer; the target trajectory and positioning information can also be input to the motion control layer.

[0073] The target allocation control module of the target allocation layer is used to receive the trajectory tracking control command, decompose the trajectory tracking control command, and output the decomposed multiple horizontal and vertical control commands to the coordination control layer.

[0074] The horizontal and vertical coordination control module of the coordination control layer is used to receive the multiple horizontal and vertical control commands, convert the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands respectively, and output each of the dynamic commands to the corresponding actuator.

[0075] The pre-stabilization arbitration control module of the supervision layer is used to receive the state estimation results, judge the instability of the vehicle based on the state estimation results, and obtain the instability judgment result.

[0076] The constraint control module of the supervision layer is used to receive the state estimation result and the instability judgment result, generate horizontal and vertical constraint boundaries based on the state estimation result, output the horizontal and vertical constraint boundaries to the motion control layer, and correct the horizontal and vertical constraint boundaries based on the instability judgment result to obtain the corrected horizontal and vertical constraint boundaries.

[0077] The signal processing module includes a trajectory interpolation and fitting submodule and a positioning fusion processing submodule;

[0078] The trajectory interpolation and fitting submodule is used to receive discrete trajectory points input from the trajectory interface, and to perform interpolation and fitting on the discrete trajectory points input from the trajectory interface to obtain the target trajectory, wherein the target trajectory is used by the trajectory tracking control module for control.

[0079] The positioning fusion processing submodule is used to receive external positioning information and vehicle chassis information, and to correct the external positioning information based on the vehicle chassis information to obtain corrected positioning information.

[0080] The trajectory tracking control module includes a parking trajectory tracking submodule and a driving trajectory tracking submodule. The parking trajectory tracking submodule is used to determine trajectory tracking control commands based on a sliding diaphragm control algorithm; the driving trajectory tracking submodule is used to determine trajectory tracking control commands based on a model predictive control algorithm.

[0081] The actuator characteristic compensation module is used to receive response delay and overshoot information, perform compensation processing on the response delay and overshoot information to obtain actuator response characteristic parameters, and output the actuator response characteristic parameters to the trajectory tracking control module.

[0082] The motion-assisted control module of the target allocation layer is used to receive the horizontal and vertical control commands and monitor key state variables;

[0083] The cross-system execution redundancy control module of the target allocation layer is used to convert control commands into control commands for redundant actuators when it receives actuator fault status information output by the coordination control layer, and realize the lateral and longitudinal control of the vehicle based on the control commands of the redundant actuators.

[0084] The motion management module includes a pattern management submodule, a human-machine management submodule, and an actuator management submodule;

[0085] The mode management submodule is used to switch vehicle driving modes;

[0086] The human-machine management submodule is used for human intervention in autonomous driving;

[0087] The actuator management submodule is used to manage the working status and fault status of each actuator in the chassis.

[0088] The state estimation and prediction module is used to receive vehicle state information and external environment information, and determine the state estimation result based on the vehicle state information and external environment information.

[0089] Example 4

[0090] Figure 4 This is a schematic diagram of a vehicle motion control system according to Embodiment 4 of the present invention. The vehicle motion control system includes:

[0091] The functional logic control module 410 of the supervision layer is used to receive functional control requests, perform logical judgments on the functional control requests, and output functional logic control instructions to the motion control layer.

[0092] The trajectory tracking control module 420 of the motion control layer is used to receive the functional logic control command, activate the trajectory tracking function based on the functional logic control command, and output the trajectory tracking control command to the target allocation layer.

[0093] The target allocation control module 430 of the target allocation layer is used to receive the trajectory tracking control command, decompose the trajectory tracking control command, and output the decomposed multiple horizontal and vertical control commands to the coordination control layer.

[0094] The horizontal and vertical coordination control module 440 of the coordination control layer is used to receive the multiple horizontal and vertical control commands, convert the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands respectively, and output each of the dynamic commands to the corresponding actuator.

[0095] The technical solution of this invention, through the functional logic control module of the supervision layer, receives functional control requests, performs logical judgment on the functional control requests, and outputs functional logic control instructions to the motion control layer. Then, through the trajectory tracking control module of the motion control layer, it receives the functional logic control instructions, activates the trajectory tracking function based on the functional logic control instructions, and outputs trajectory tracking control instructions to the target allocation layer. Through the target allocation control module of the target allocation layer, it receives the trajectory tracking control instructions, decomposes the trajectory tracking control instructions, and outputs multiple horizontal and vertical control instructions to the coordination control layer. Through the horizontal and vertical coordination control module of the coordination control layer, it receives multiple horizontal and vertical control instructions, converts these instructions to obtain dynamic instructions corresponding to each horizontal and vertical control instruction, and outputs each dynamic instruction to its corresponding actuator. This achieves coordinated horizontal and vertical control, avoids execution conflicts, optimizes execution performance, and solves the problem of target allocation for multiple actuators.

[0096] Optionally, the pre-stabilization arbitration module of the supervision layer is used to receive the state estimation result, judge the instability of the vehicle based on the state estimation result, and obtain the instability judgment result.

[0097] Optionally, the constraint control module of the supervision layer is used to receive the state estimation result and the instability judgment result, generate horizontal and vertical constraint boundaries based on the state estimation result, output the horizontal and vertical constraint boundaries to the motion control layer, and correct the horizontal and vertical constraint boundaries based on the instability judgment result to obtain the corrected horizontal and vertical constraint boundaries.

[0098] Optionally, the motion control layer further includes a signal processing module, which includes a trajectory interpolation fitting submodule and a positioning fusion processing submodule;

[0099] The trajectory interpolation and fitting submodule is used to receive discrete trajectory points input from the trajectory interface, and to perform interpolation and fitting on the discrete trajectory points input from the trajectory interface to obtain the target trajectory, wherein the target trajectory is used by the trajectory tracking control module for control.

[0100] The positioning fusion processing submodule is used to receive external positioning information and vehicle chassis information, and to correct the external positioning information based on the vehicle chassis information to obtain corrected positioning information.

[0101] Optionally, the trajectory tracking control module includes a parking trajectory tracking submodule and a driving trajectory tracking submodule. The parking trajectory tracking submodule is used to determine trajectory tracking control commands based on a sliding diaphragm control algorithm; the driving trajectory tracking submodule is used to determine trajectory tracking control commands based on a model predictive control algorithm.

[0102] Optionally, the motion control layer further includes an actuator characteristic compensation module;

[0103] The actuator characteristic compensation module is used to receive response delay and overshoot information, perform compensation processing on the response delay and overshoot information to obtain actuator response characteristic parameters, and output the actuator response characteristic parameters to the trajectory tracking control module.

[0104] Optionally, the target allocation layer further includes a motion assistance control module and a cross-system execution redundancy control module;

[0105] The motion-assisted control module of the target allocation layer is used to receive the horizontal and vertical control commands and monitor key state variables;

[0106] The cross-system execution redundancy control module of the target allocation layer is used to convert control commands into control commands for redundant actuators when it receives actuator fault status information output by the coordination control layer, and realize the lateral and longitudinal control of the vehicle based on the control commands of the redundant actuators.

[0107] Optionally, the coordination control layer further includes a motion management module, which includes a mode management submodule, a human-machine management submodule, and an actuator management submodule;

[0108] The mode management submodule is used to switch vehicle driving modes;

[0109] The human-machine management submodule is used for human intervention in autonomous driving;

[0110] The actuator management submodule is used to manage the working status and fault status of each actuator in the chassis.

[0111] Optionally, the vehicle motion control platform further includes a state estimation and prediction module;

[0112] The state estimation and prediction module is used to receive vehicle state information and external environment information, and determine the state estimation result based on the vehicle state information and external environment information.

[0113] The vehicle motion control system provided in the embodiments of the present invention can execute the vehicle motion control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0114] Example 5

[0115] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0116] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An I / O interface 15 is also connected to the bus 14.

[0117] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0118] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a vehicle motion control method, which includes:

[0119] The functional logic control module of the supervision layer receives functional control requests, performs logical judgments on the functional control requests, and outputs functional logic control instructions to the motion control layer.

[0120] The trajectory tracking control module of the motion control layer receives the functional logic control command, activates the trajectory tracking function based on the functional logic control command, and outputs the trajectory tracking control command to the target allocation layer.

[0121] The target allocation control module of the target allocation layer receives the trajectory tracking control command, decomposes the trajectory tracking control command, and outputs the decomposed multiple horizontal and vertical control commands to the coordination control layer.

[0122] The horizontal and vertical coordination control module of the coordination control layer receives the multiple horizontal and vertical control commands, converts the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands, and outputs each of the dynamic commands to the corresponding actuator.

[0123] In some embodiments, the vehicle motion control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle motion control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle motion control method by any other suitable means (e.g., by means of firmware).

[0124] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0125] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0126] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0127] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0128] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0129] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0130] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0131] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle motion control method, characterized in that, The method is executed by a vehicle motion control platform, which includes a supervisory layer, a motion control layer, a target allocation layer, and a coordination control layer. The supervisory layer includes a functional logic control module, a pre-stabilization arbitration control module, and a constraint control module. The motion control layer includes a trajectory tracking control module. The target allocation layer includes a target allocation control module. The coordination control layer includes lateral and longitudinal coordination control modules. The method includes: The functional logic control module of the supervision layer receives functional control requests, performs logical judgments on the functional control requests, and outputs functional logic control instructions to the motion control layer. The pre-stabilization arbitration control module of the supervision layer receives the state estimation result, judges the instability of the vehicle based on the state estimation result, and obtains the instability judgment result. The constraint control module of the supervision layer receives the state estimation result and the instability judgment result, generates horizontal and vertical constraint boundaries based on the state estimation result, and outputs the horizontal and vertical constraint boundaries to the motion control layer. Based on the instability judgment result, the horizontal and vertical constraint boundaries are corrected to obtain the corrected horizontal and vertical constraint boundaries. The trajectory tracking control module of the motion control layer receives the functional logic control command, activates the trajectory tracking function based on the functional logic control command, and outputs the trajectory tracking control command to the target allocation layer. The target allocation control module of the target allocation layer receives the trajectory tracking control command, decomposes the trajectory tracking control command, and outputs the decomposed multiple horizontal and vertical control commands to the coordination control layer. The horizontal and vertical coordination control module of the coordination control layer receives the multiple horizontal and vertical control commands, converts the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands, and outputs each of the dynamic commands to the corresponding actuator.

2. The method according to claim 1, characterized in that, The motion control layer further includes a signal processing module, which comprises a trajectory interpolation fitting submodule and a positioning fusion processing submodule; the method further includes: The trajectory interpolation fitting submodule receives discrete trajectory points input from the trajectory interface, performs interpolation fitting on the discrete trajectory points input from the trajectory interface, and obtains the target trajectory, wherein the target trajectory is used by the trajectory tracking control module for control. The positioning fusion processing submodule receives external positioning information and vehicle chassis information, and corrects the external positioning information based on the vehicle chassis information to obtain corrected positioning information.

3. The method according to claim 1, characterized in that, The trajectory tracking control module includes a parking trajectory tracking submodule and a driving trajectory tracking submodule. The parking trajectory tracking submodule is used to determine trajectory tracking control commands based on a sliding diaphragm control algorithm; the driving trajectory tracking submodule is used to determine trajectory tracking control commands based on a model predictive control algorithm.

4. The method according to claim 1, characterized in that, The motion control layer further includes an actuator characteristic compensation module; the method further includes: The actuator characteristic compensation module receives response delay and overshoot information, performs compensation processing on the response delay and overshoot information to obtain actuator response characteristic parameters, and outputs the actuator response characteristic parameters to the trajectory tracking control module.

5. The method according to claim 1, characterized in that, The target allocation layer also includes a motion assistance control module and a cross-system execution redundancy control module; The motion-assisted control module of the target allocation layer receives the lateral and longitudinal control commands and monitors key state variables. The cross-system execution redundancy control module of the target allocation layer, upon receiving actuator fault status information output by the coordination control layer, converts control commands into control commands for redundant actuators, and realizes lateral and longitudinal control of the vehicle based on the control commands of the redundant actuators.

6. The method according to claim 1, characterized in that, The coordination and control layer also includes a motion management module, which includes a pattern management submodule, a human-machine management submodule, and an actuator management submodule. The mode management submodule is used to switch vehicle driving modes; The human-machine management submodule is used for human intervention in autonomous driving; The actuator management submodule is used to manage the working status and fault status of each actuator in the chassis.

7. The method according to claim 1, characterized in that, The vehicle motion control platform further includes a state estimation and prediction module; the method further includes: The state estimation and prediction module receives vehicle state information and external environment information, and determines the state estimation result based on the vehicle state information and external environment information.

8. A vehicle motion control system, characterized in that, The vehicle motion control system includes: The functional logic control module of the supervision layer is used to receive functional control requests, perform logical judgments on the functional control requests, and output functional logic control instructions to the motion control layer. The pre-stabilization arbitration control module of the supervision layer is used to receive the state estimation results and, based on the state estimation results, judge the instability of the vehicle to obtain the instability judgment result; The constraint control module of the supervision layer is used to receive the state estimation result and the instability judgment result, generate horizontal and vertical constraint boundaries based on the state estimation result, output the horizontal and vertical constraint boundaries to the motion control layer, and correct the horizontal and vertical constraint boundaries based on the instability judgment result to obtain the corrected horizontal and vertical constraint boundaries. The trajectory tracking control module of the motion control layer is used to receive the functional logic control instructions, activate the trajectory tracking function based on the functional logic control instructions, and output the trajectory tracking control instructions to the target allocation layer. The target allocation control module of the target allocation layer is used to receive the trajectory tracking control command, decompose the trajectory tracking control command, and output the decomposed multiple horizontal and vertical control commands to the coordination control layer. The horizontal and vertical coordination control module of the coordination control layer is used to receive the multiple horizontal and vertical control commands, convert the multiple horizontal and vertical control commands to obtain the dynamic commands corresponding to the multiple horizontal and vertical control commands respectively, and output each of the dynamic commands to the corresponding actuator.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the vehicle motion control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle motion control method according to any one of claims 1-7.

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